WorldGen's ability to generate a collection of moving objects in space is closest in scope to Kubric [1]} and BlenderProc [2]}. The key advantage of our framework over Kubric is the flexibility to generate large-scale datasets due to variational texture mapping that can generate different structural variations of the same 3D models. Fig. REF b shows the output of an object pile environment. WorldGen supports a variety of control in physics such as collision shapes using convex hulls, 3D meshes, boxes, cylinders, etc. with varying collision margins, friction, and coefficient of restitution for allowing more control in the data generation process. Furthermore, apart from the standard gravitational force, our framework deploys other force fields such as wind and drag to influence the object's motion which reflects reality much more and would be useful in learning perception modules for realistic scenarios.
